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Commit da2fdf65 authored by Don Gagne's avatar Don Gagne
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parent 5fb168e1
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Showing with 383 additions and 71 deletions
qgroundcontrol.pro
View file @ da2fdf65
......@@ -596,6 +596,7 @@ HEADERS += \
src/QmlControls/RCChannelMonitorController.h \
src/QmlControls/ScreenToolsController.h \
src/QtLocationPlugin/QMLControl/QGCMapEngineManager.h \
src/Settings/APMMavlinkStreamRateSettings.h \
src/Settings/AppSettings.h \
src/Settings/AutoConnectSettings.h \
src/Settings/BrandImageSettings.h \
......@@ -799,6 +800,7 @@ SOURCES += \
src/QmlControls/RCChannelMonitorController.cc \
src/QmlControls/ScreenToolsController.cc \
src/QtLocationPlugin/QMLControl/QGCMapEngineManager.cc \
src/Settings/APMMavlinkStreamRateSettings.cc \
src/Settings/AppSettings.cc \
src/Settings/AutoConnectSettings.cc \
src/Settings/BrandImageSettings.cc \
......
qgroundcontrol.qrc
View file @ da2fdf65
......@@ -210,6 +210,7 @@
<file alias="VirtualJoystick.qml">src/FlightDisplay/VirtualJoystick.qml</file>
</qresource>
<qresource prefix="/json">
<file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>
<file alias="CameraCalc.FactMetaData.json">src/MissionManager/CameraCalc.FactMetaData.json</file>
<file alias="CameraSpec.FactMetaData.json">src/MissionManager/CameraSpec.FactMetaData.json</file>
<file alias="CorridorScan.SettingsGroup.json">src/MissionManager/CorridorScan.SettingsGroup.json</file>
......
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
View file @ da2fdf65
......@@ -19,6 +19,7 @@
#include "QGCFileDownload.h"
#include "SettingsManager.h"
#include "AppSettings.h"
#include "APMMavlinkStreamRateSettings.h"
#include <QTcpSocket>
......@@ -614,13 +615,30 @@ void APMFirmwarePlugin::_adjustCalibrationMessageSeverity(mavlink_message_t* mes
void APMFirmwarePlugin::initializeStreamRates(Vehicle* vehicle)
{
vehicle->requestDataStream(MAV_DATA_STREAM_RAW_SENSORS, 2);
vehicle->requestDataStream(MAV_DATA_STREAM_EXTENDED_STATUS, 2);
vehicle->requestDataStream(MAV_DATA_STREAM_RC_CHANNELS, 2);
vehicle->requestDataStream(MAV_DATA_STREAM_POSITION, 3);
vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA1, 10);
vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA2, 10);
vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA3, 3);
APMMavlinkStreamRateSettings* streamRates = qgcApp()->toolbox()->settingsManager()->apmMavlinkStreamRateSettings();
struct StreamInfo_s {
MAV_DATA_STREAM mavStream;
int streamRate;
};
StreamInfo_s rgStreamInfo[] = {
{ MAV_DATA_STREAM_RAW_SENSORS, streamRates->streamRateRawSensors()->rawValue().toInt() },
{ MAV_DATA_STREAM_EXTENDED_STATUS, streamRates->streamRateExtendedStatus()->rawValue().toInt() },
{ MAV_DATA_STREAM_RC_CHANNELS, streamRates->streamRateRCChannels()->rawValue().toInt() },
{ MAV_DATA_STREAM_POSITION, streamRates->streamRatePosition()->rawValue().toInt() },
{ MAV_DATA_STREAM_EXTRA1, streamRates->streamRateExtra1()->rawValue().toInt() },
{ MAV_DATA_STREAM_EXTRA2, streamRates->streamRateExtra2()->rawValue().toInt() },
{ MAV_DATA_STREAM_EXTRA3, streamRates->streamRateExtra3()->rawValue().toInt() },
};
for (size_t i=0; i<sizeof(rgStreamInfo)/sizeof(rgStreamInfo[0]); i++) {
const StreamInfo_s& streamInfo = rgStreamInfo[i];
if (streamInfo.streamRate >= 0) {
vehicle->requestDataStream(streamInfo.mavStream, static_cast<uint16_t>(streamInfo.streamRate));
}
}
}
......@@ -733,22 +751,16 @@ QString APMFirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const
switch (vehicleType) {
case MAV_TYPE_GENERIC:
return QStringLiteral(":/json/APM/MavCmdInfoCommon.json");
break;
case MAV_TYPE_FIXED_WING:
return QStringLiteral(":/json/APM/MavCmdInfoFixedWing.json");
break;
case MAV_TYPE_QUADROTOR:
return QStringLiteral(":/json/APM/MavCmdInfoMultiRotor.json");
break;
case MAV_TYPE_VTOL_QUADROTOR:
return QStringLiteral(":/json/APM/MavCmdInfoVTOL.json");
break;
case MAV_TYPE_SUBMARINE:
return QStringLiteral(":/json/APM/MavCmdInfoSub.json");
break;
case MAV_TYPE_GROUND_ROVER:
return QStringLiteral(":/json/APM/MavCmdInfoRover.json");
break;
default:
qWarning() << "APMFirmwarePlugin::missionCommandOverrides called with bad MAV_TYPE:" << vehicleType;
return QString();
......
src/QmlControls/QGroundControlQmlGlobal.cc
View file @ da2fdf65
......@@ -178,6 +178,15 @@ int QGroundControlQmlGlobal::supportedFirmwareCount()
return _firmwarePluginManager->supportedFirmwareTypes().count();
}
bool QGroundControlQmlGlobal::px4ProFirmwareSupported()
{
return _firmwarePluginManager->supportedFirmwareTypes().contains(MAV_AUTOPILOT_PX4);
}
bool QGroundControlQmlGlobal::apmFirmwareSupported()
{
return _firmwarePluginManager->supportedFirmwareTypes().contains(MAV_AUTOPILOT_ARDUPILOTMEGA);
}
bool QGroundControlQmlGlobal::linesIntersect(QPointF line1A, QPointF line1B, QPointF line2A, QPointF line2B)
{
......
src/QmlControls/QGroundControlQmlGlobal.h
View file @ da2fdf65
......@@ -70,6 +70,8 @@ public:
Q_PROPERTY(bool taisyncSupported READ taisyncSupported CONSTANT)
Q_PROPERTY(int supportedFirmwareCount READ supportedFirmwareCount CONSTANT)
Q_PROPERTY(bool px4ProFirmwareSupported READ px4ProFirmwareSupported CONSTANT)
Q_PROPERTY(int apmFirmwareSupported READ apmFirmwareSupported CONSTANT)
Q_PROPERTY(qreal zOrderTopMost READ zOrderTopMost CONSTANT) ///< z order for top most items, toolbar, main window sub view
Q_PROPERTY(qreal zOrderWidgets READ zOrderWidgets CONSTANT) ///< z order value to widgets, for example: zoom controls, hud widgetss
......@@ -180,6 +182,8 @@ public:
int mavlinkSystemID () { return _toolbox->mavlinkProtocol()->getSystemId(); }
int supportedFirmwareCount ();
bool px4ProFirmwareSupported ();
bool apmFirmwareSupported ();
bool skipSetupPage () { return _skipSetupPage; }
void setSkipSetupPage (bool skip);
......
src/Settings/APMMavlinkStreamRate.SettingsGroup.json 0 → 100644
View file @ da2fdf65
{
"QGC.MetaData.Defines": {
"StreamRateEnumStrings": "Controlled By Vehicle,0 hz,1 hz,2 hz,3 hz,4 hz,5 hz,6 hz,7 hz,8 hz,9 hz,10 hz,50 hz,100 hz",
"StreamRateEnumValues": "-1,0,1,2,3,4,5,6,7,8,9,10,50,100"
},
"QGC.MetaData.Facts": [
{
"name": "streamRateRawSensors",
"shortDescription": "Stream rate for MAVLink Raw Sensors telemetry stream.",
"type": "int32",
"enumStrings": "QGC.MetaData.Defines.StreamRateEnumStrings",
"enumValues": "QGC.MetaData.Defines.StreamRateEnumValues",
"defaultValue": 2
},
{
"name": "streamRateExtendedStatus",
"shortDescription": "Stream rate for MAVLink Extended Status telemetry stream.",
"type": "int32",
"enumStrings": "QGC.MetaData.Defines.StreamRateEnumStrings",
"enumValues": "QGC.MetaData.Defines.StreamRateEnumValues",
"defaultValue": 2
},
{
"name": "streamRateRCChannels",
"shortDescription": "Stream rate for MAVLink RC Channels telemetry stream.",
"type": "int32",
"enumStrings": "QGC.MetaData.Defines.StreamRateEnumStrings",
"enumValues": "QGC.MetaData.Defines.StreamRateEnumValues",
"defaultValue": 2
},
{
"name": "streamRatePosition",
"shortDescription": "Stream rate for MAVLink Position telemetry stream.",
"type": "int32",
"enumStrings": "QGC.MetaData.Defines.StreamRateEnumStrings",
"enumValues": "QGC.MetaData.Defines.StreamRateEnumValues",
"defaultValue": 3
},
{
"name": "streamRateExtra1",
"shortDescription": "Stream rate for MAVLink Extra1 telemetry stream.",
"type": "int32",
"enumStrings": "QGC.MetaData.Defines.StreamRateEnumStrings",
"enumValues": "QGC.MetaData.Defines.StreamRateEnumValues",
"defaultValue": 10
},
{
"name": "streamRateExtra2",
"shortDescription": "Stream rate for MAVLink Extra2 telemetry stream.",
"type": "int32",
"enumStrings": "QGC.MetaData.Defines.StreamRateEnumStrings",
"enumValues": "QGC.MetaData.Defines.StreamRateEnumValues",
"defaultValue": 10
},
{
"name": "streamRateExtra3",
"shortDescription": "Stream rate for MAVLink Extra3 telemetry stream.",
"type": "int32",
"enumStrings": "QGC.MetaData.Defines.StreamRateEnumStrings",
"enumValues": "QGC.MetaData.Defines.StreamRateEnumValues",
"defaultValue": 3
}
]
}
src/Settings/APMMavlinkStreamRateSettings.cc 0 → 100644
View file @ da2fdf65
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "APMMavlinkStreamRateSettings.h"
#include "QGCApplication.h"
#include <QQmlEngine>
#include <QtQml>
DECLARE_SETTINGGROUP(APMMavlinkStreamRate, "APMMavlinkStreamRate")
{
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
qmlRegisterUncreatableType<APMMavlinkStreamRateSettings>("QGroundControl.SettingsManager", 1, 0, "APMMavlinkStreamRateSettings", "Reference only");
connect(streamRateRawSensors(), &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateRawSensors);
connect(streamRateExtendedStatus(), &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateExtendedStatus);
connect(streamRateRCChannels(), &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateRCChannels);
connect(streamRatePosition(), &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRatePosition);
connect(streamRateExtra1(), &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateExtra1);
connect(streamRateExtra2(), &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateExtra2);
connect(streamRateExtra3(), &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateExtra3);
}
DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateRawSensors)
DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateExtendedStatus)
DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateRCChannels)
DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRatePosition)
DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateExtra1)
DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateExtra2)
DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateExtra3)
void APMMavlinkStreamRateSettings::_updateStreamRateWorker(MAV_DATA_STREAM mavStream, QVariant rateVar)
{
Vehicle* activeVehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
if (activeVehicle) {
int streamRate = rateVar.toInt();
if (streamRate >= 0) {
activeVehicle->requestDataStream(mavStream, static_cast<uint16_t>(streamRate));
}
}
}
void APMMavlinkStreamRateSettings::_updateStreamRateRawSensors(QVariant value)
{
_updateStreamRateWorker(MAV_DATA_STREAM_RAW_SENSORS, value);
}
void APMMavlinkStreamRateSettings::_updateStreamRateExtendedStatus(QVariant value)
{
_updateStreamRateWorker(MAV_DATA_STREAM_EXTENDED_STATUS, value);
}
void APMMavlinkStreamRateSettings::_updateStreamRateRCChannels(QVariant value)
{
_updateStreamRateWorker(MAV_DATA_STREAM_RC_CHANNELS, value);
}
void APMMavlinkStreamRateSettings::_updateStreamRatePosition(QVariant value)
{
_updateStreamRateWorker(MAV_DATA_STREAM_POSITION, value);
}
void APMMavlinkStreamRateSettings::_updateStreamRateExtra1(QVariant value)
{
_updateStreamRateWorker(MAV_DATA_STREAM_EXTRA1, value);
}
void APMMavlinkStreamRateSettings::_updateStreamRateExtra2(QVariant value)
{
_updateStreamRateWorker(MAV_DATA_STREAM_EXTRA2, value);
}
void APMMavlinkStreamRateSettings::_updateStreamRateExtra3(QVariant value)
{
_updateStreamRateWorker(MAV_DATA_STREAM_EXTRA3, value);
}
src/Settings/APMMavlinkStreamRateSettings.h 0 → 100644
View file @ da2fdf65
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "SettingsGroup.h"
#include "QGCMAVLink.h"
class APMMavlinkStreamRateSettings : public SettingsGroup
{
Q_OBJECT
public:
APMMavlinkStreamRateSettings(QObject* parent = nullptr);
DEFINE_SETTING_NAME_GROUP()
DEFINE_SETTINGFACT(streamRateRawSensors)
DEFINE_SETTINGFACT(streamRateExtendedStatus)
DEFINE_SETTINGFACT(streamRateRCChannels)
DEFINE_SETTINGFACT(streamRatePosition)
DEFINE_SETTINGFACT(streamRateExtra1)
DEFINE_SETTINGFACT(streamRateExtra2)
DEFINE_SETTINGFACT(streamRateExtra3)
private slots:
void _updateStreamRateRawSensors (QVariant value);
void _updateStreamRateExtendedStatus(QVariant value);
void _updateStreamRateRCChannels (QVariant value);
void _updateStreamRatePosition (QVariant value);
void _updateStreamRateExtra1 (QVariant value);
void _updateStreamRateExtra2 (QVariant value);
void _updateStreamRateExtra3 (QVariant value);
private:
void _updateStreamRateWorker(MAV_DATA_STREAM mavStream, QVariant rateVar);
};
src/Settings/App.SettingsGroup.json
View file @ da2fdf65
......@@ -204,7 +204,8 @@
"name": "apmStartMavlinkStreams",
"shortDescription": "Request start of MAVLink telemetry streams (ArduPilot only)",
"type": "bool",
"defaultValue": true
"defaultValue": true,
"qgcRebootRequired": true
},
{
"name": "enableTaisync",
......
src/Settings/SettingsManager.cc
View file @ da2fdf65
......@@ -26,6 +26,7 @@ SettingsManager::SettingsManager(QGCApplication* app, QGCToolbox* toolbox)
, _flyViewSettings (nullptr)
, _planViewSettings (nullptr)
, _brandImageSettings (nullptr)
, _apmMavlinkStreamRateSettings (nullptr)
{
}
......@@ -45,6 +46,7 @@ void SettingsManager::setToolbox(QGCToolbox *toolbox)
_flyViewSettings = new FlyViewSettings (this);
_planViewSettings = new PlanViewSettings (this);
_brandImageSettings = new BrandImageSettings (this);
_apmMavlinkStreamRateSettings = new APMMavlinkStreamRateSettings (this);
#if defined(QGC_AIRMAP_ENABLED)
_airMapSettings = new AirMapSettings (this);
#endif
......
src/Settings/SettingsManager.h
View file @ da2fdf65
......@@ -23,6 +23,7 @@
#include "FlyViewSettings.h"
#include "PlanViewSettings.h"
#include "BrandImageSettings.h"
#include "APMMavlinkStreamRateSettings.h"
#if defined(QGC_AIRMAP_ENABLED)
#include "AirMapSettings.h"
#endif
......@@ -48,6 +49,7 @@ public:
Q_PROPERTY(QObject* flyViewSettings READ flyViewSettings CONSTANT)
Q_PROPERTY(QObject* planViewSettings READ planViewSettings CONSTANT)
Q_PROPERTY(QObject* brandImageSettings READ brandImageSettings CONSTANT)
Q_PROPERTY(QObject* apmMavlinkStreamRateSettings READ apmMavlinkStreamRateSettings CONSTANT)
// Override from QGCTool
virtual void setToolbox(QGCToolbox *toolbox);
......@@ -64,6 +66,7 @@ public:
FlyViewSettings* flyViewSettings (void) { return _flyViewSettings; }
PlanViewSettings* planViewSettings (void) { return _planViewSettings; }
BrandImageSettings* brandImageSettings (void) { return _brandImageSettings; }
APMMavlinkStreamRateSettings* apmMavlinkStreamRateSettings(void) { return _apmMavlinkStreamRateSettings; }
private:
#if defined(QGC_AIRMAP_ENABLED)
......@@ -78,6 +81,7 @@ private:
FlyViewSettings* _flyViewSettings;
PlanViewSettings* _planViewSettings;
BrandImageSettings* _brandImageSettings;
APMMavlinkStreamRateSettings* _apmMavlinkStreamRateSettings;
};
#endif
src/ui/preferences/MavlinkSettings.qml
View file @ da2fdf65
......@@ -12,6 +12,7 @@ import QtQuick 2.3
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.4
import QtQuick.Dialogs 1.2
import QtQuick.Layouts 1.2
import QGroundControl 1.0
import QGroundControl.FactSystem 1.0
......@@ -33,6 +34,7 @@ Rectangle {
property bool _uploadedSelected: false
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property var _showMavlinkLog: QGroundControl.corePlugin.options.showMavlinkLogOptions
property bool _showAPMStreamRates: QGroundControl.apmFirmwareSupported && QGroundControl.settingsManager.apmMavlinkStreamRateSettings.visible
QGCPalette { id: qgcPal }
......@@ -143,11 +145,6 @@ Rectangle {
}
}
FactCheckBox {
text: fact.shortDescription
fact: QGroundControl.settingsManager.appSettings.apmStartMavlinkStreams
}
QGCCheckBox {
text: qsTr("Only accept MAVs with same protocol version")
checked: QGroundControl.isVersionCheckEnabled
......@@ -158,6 +155,97 @@ Rectangle {
}
}
//-----------------------------------------------------------------
//-- Stream Rates
Item {
id: apmStreamRatesLabel
width: __mavlinkRoot.width * 0.8
height: streamRatesLabel.height
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
visible: _showAPMStreamRates
QGCLabel {
id: streamRatesLabel
text: qsTr("Telemetry Stream Rates (ArduPilot Only)")
font.family: ScreenTools.demiboldFontFamily
}
}
Rectangle {
height: streamRatesColumn.height + (ScreenTools.defaultFontPixelHeight * 2)
width: __mavlinkRoot.width * 0.8
color: qgcPal.windowShade
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
visible: _showAPMStreamRates
ColumnLayout {
id: streamRatesColumn
spacing: ScreenTools.defaultFontPixelHeight / 2
anchors.centerIn: parent
property bool allStreamsControlledByVehicle: !QGroundControl.settingsManager.appSettings.apmStartMavlinkStreams.rawValue
QGCCheckBox {
text: qsTr("All Streams Controlled By Vehicle Settings")
checked: streamRatesColumn.allStreamsControlledByVehicle
onClicked: QGroundControl.settingsManager.appSettings.apmStartMavlinkStreams.rawValue = !checked
}
GridLayout {
columns: 2
enabled: !streamRatesColumn.allStreamsControlledByVehicle
QGCLabel { text: qsTr("Raw Sensors") }
FactComboBox {
fact: QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateRawSensors
indexModel: false
Layout.preferredWidth: _valueWidth
}
QGCLabel { text: qsTr("Extended Status") }
FactComboBox {
fact: QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateExtendedStatus
indexModel: false
Layout.preferredWidth: _valueWidth
}
QGCLabel { text: qsTr("RC Channel") }
FactComboBox {
fact: QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateRCChannels
indexModel: false
Layout.preferredWidth: _valueWidth
}
QGCLabel { text: qsTr("Position") }
FactComboBox {
fact: QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRatePosition
indexModel: false
Layout.preferredWidth: _valueWidth
}
QGCLabel { text: qsTr("Extra 1") }
FactComboBox {
fact: QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateExtra1
indexModel: false
Layout.preferredWidth: _valueWidth
}
QGCLabel { text: qsTr("Extra 2") }
FactComboBox {
fact: QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateExtra2
indexModel: false
Layout.preferredWidth: _valueWidth
}
QGCLabel { text: qsTr("Extra 3") }
FactComboBox {
fact: QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateExtra3
indexModel: false
Layout.preferredWidth: _valueWidth
}
}
}
}
//-----------------------------------------------------------------
//-- Mavlink Status
Item {
width: __mavlinkRoot.width * 0.8
......@@ -253,7 +341,7 @@ Rectangle {
visible: _showMavlinkLog
QGCLabel {
id: mavlogLabel
text: qsTr("MAVLink 2.0 Logging (PX4 Firmware Only)")
text: qsTr("MAVLink 2.0 Logging (PX4 Pro Only)")
font.family: ScreenTools.demiboldFontFamily
}
}
......@@ -315,7 +403,7 @@ Rectangle {
visible: _showMavlinkLog
QGCLabel {
id: logLabel
text: qsTr("MAVLink 2.0 Log Uploads (PX4 Firmware Only)")
text: qsTr("MAVLink 2.0 Log Uploads (PX4 Pro Only)")
font.family: ScreenTools.demiboldFontFamily
}
}
......
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